#include"ros/ros.h"
#include<turtlesim/Pose.h>

void do_Pose(const turtlesim::Pose::ConstPtr &pose)
{
    ROS_INFO("turtle's coordinate:(%.2f,%.2f) ,orienation(%.2f),velocity:%.2f, a_velocity:%.2f",pose->x,pose->y,pose->theta,pose->linear_velocity,pose->angular_velocity);

}




int main(int argc, char *argv[])
{   

    ros::init(argc,argv,"Pose_sub");

    ros::NodeHandle nh;

    ros::Subscriber sub = nh.subscribe("/turtle1/pose",10,do_Pose);

    ros::spin();
    
    return 0;
}
